Dimensional Designing Study on a Novel 3-RPS Parallel Machine

Analysis on the singularity of the 3-RPS parallel machine which probably occurs in the engineering application is presented. The influence of the singular configurations in the workspace of the parallel machine is interpreted. To improve the orientation capacity of the moving platform, a novel complex spherical joint is designed, however a special singularity namely coaxial singularity is resulted in. By optimizing the dimension parameters and designing a special moving platform, the singularity can be averted in the wanted workspace, and the nutation angle of the parallel machine can be enlarged to ±45 degree.